The invention provides a vehicle ramp slope identification method and device. The method comprises the steps: obtaining the average wheel speed of front wheels, the average wheel speed of rear wheels,the engine torque change rate, the brake master cylinder pressure and the longitudinal acceleration measured by an inertial acceleration sensor of a vehicle; performing filtering differential processing on the average wheel speed of the rear wheel and the average wheel speed of the front wheels to obtain a rear wheel acceleration filtering value and a front wheel acceleration filtering value; filtering the longitudinal acceleration measured by the inertial acceleration sensor to obtain an inertial longitudinal acceleration filtering value; and determining the slope angle of the vehicle on a ramp according to the difference between the rear wheel acceleration filtering value and the front wheel acceleration filtering value, the engine torque change rate, the brake master cylinder pressureand the difference between the rear wheel acceleration filtering value and the inertia longitudinal acceleration filtering value. According to the identification method, the ramp is identified by adopting the existing sensor of the vehicle, so that the control of the vehicle can be corrected, the cost can be saved, and the accuracy of the obtained ramp slope can be effectively ensured to be higher.
本发明提供了一种车辆坡道坡度识别方法和装置,其包括:获取车辆前轮平均轮速、后轮平均轮速、发动机扭矩变化率、制动主缸压力、惯性加速度传感器测得的纵向加速度;分别对后轮平均轮速和前轮平均轮速进行滤波差分处理,获得后轮加速度滤波值和前轮加速度滤波值;对惯性加速度传感器测得的纵向加速度进行滤波,获得惯性纵向加速度滤波值;根据后轮加速度滤波值与前轮加速度滤波值的差值、发动机扭矩变化率、制动主缸压力、以及后轮加速度滤波值与惯性纵向加速度滤波值的差值,确定车辆在坡道的坡度角。该识别方法采用车辆现有的传感器对坡道进行识别,从而能够修正车辆的控制,既能够节约成本,还能够有效的保证获得的坡道坡度的精度更高。
Vehicle ramp slope identification method and device
一种车辆坡道坡度识别方法和装置
2020-05-08
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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